Newton–Euler Modeling and Control of a Multi-copter Using Motor Algebra G3,0,1

In this work the dynamic model and the nonlinear control for a multi-copter have been developed using the geometric algebra framework specifically using the motor algebra G 3 , 0 , 1 + . The kinematics for the aircraft model and the dynamics based on Newton-Euler formalism are presented. Block-contr...

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